WO2023021586A1 - Ｍｉｍｏレーダ信号処理装置及びその受信信号処理装置、並びに着目受信信号ベクトルの伝搬モード判別方法 - Google Patents

Ｍｉｍｏレーダ信号処理装置及びその受信信号処理装置、並びに着目受信信号ベクトルの伝搬モード判別方法 Download PDF

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WO2023021586A1
WO2023021586A1 PCT/JP2021/030092 JP2021030092W WO2023021586A1 WO 2023021586 A1 WO2023021586 A1 WO 2023021586A1 JP 2021030092 W JP2021030092 W JP 2021030092W WO 2023021586 A1 WO2023021586 A1 WO 2023021586A1
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angle
angle measurement
provisional
transmission
received signal
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PCT/JP2021/030092
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English (en)
French (fr)
Japanese (ja)
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龍平 高橋
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三菱電機株式会社
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Priority to JP2023537466A priority Critical patent/JP7330423B2/ja
Priority to EP21954160.4A priority patent/EP4369024A1/de
Priority to AU2021461030A priority patent/AU2021461030B2/en
Priority to CN202180101456.5A priority patent/CN117795370A/zh
Priority to CA3223642A priority patent/CA3223642A1/en
Priority to PCT/JP2021/030092 priority patent/WO2023021586A1/ja
Publication of WO2023021586A1 publication Critical patent/WO2023021586A1/ja
Priority to US18/390,857 priority patent/US20240142599A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/426—Scanning radar, e.g. 3D radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/42—Diversity systems specially adapted for radar
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/0413—MIMO systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S2013/462—Indirect determination of position data using multipath signals

Definitions

  • the present disclosure outputs transmission signals different from each other to each of a plurality of transmission antennas, and reception from a plurality of reception antennas that captures reflected waves that are reflected when transmission waves transmitted from the transmission antennas reach an object as incoming waves.
  • the present invention relates to a MIMO (Multiple Input Multiple Output) radar signal processing apparatus that receives a signal and obtains a two-way angular measurement value composed of a transmission angle and an arrival angle in a received signal vector of interest from the received signal that has been input.
  • MIMO Multiple Input Multiple Output
  • the route of the transmitted wave from the MIMO radar device to the object (outbound route) and the route of the reflected wave from the object to the MIMO radar device (return route) are the same as the route of the incoming wave in the MIMO radar device, , there is a multipath propagation mode in which the forward and return paths do not match. Therefore, in the MIMO radar signal processing device in the MIMO radar device, it is necessary to determine whether the received signal is in the direct propagation mode or the multipath propagation mode.
  • a direction-of-arrival estimation result is obtained from a residual signal, which is a difference between a received signal from an antenna and an estimated received signal calculated based on estimation of the direction of arrival of radio waves calculated based on received signals from a plurality of antennas. is correct, and suppresses erroneous object detection.
  • the present disclosure has been made in view of the above points. It is an object of the present invention to obtain a MIMO radar signal processing device for obtaining directional angle measurements.
  • a MIMO radar signal processing apparatus includes a plurality of transmission signal generation units that generate transmission signals that are different from each other and output the generated transmission signals to corresponding transmission antennas, and A received signal from a receiving antenna corresponding to each of a plurality of receiving antennas, which receives a reflected wave from an object and is reflected as an incoming wave.
  • a plurality of matched filter banks outputting a matched filter output as a vector element of a received signal vector by using the transmission signal from the signal generator as a replica of the matched filter, and the matched filter output from the plurality of matched filter banks is applied to the object.
  • a provisional angle measurement unit for calculating a provisional angle measurement value for a received signal vector of interest corresponding to a range Doppler cell given in target detection processing, assuming that the received signal is in a direct propagation mode due to an arriving wave that has been reflected and propagated directly;
  • Two-way angle measurement to obtain a two-way angle measurement value composed of a transmission angle and an arrival angle for a received signal vector of interest from the matched filter outputs from a plurality of matched filter banks and the provisional angle measurement value calculated by the provisional angle measurement unit.
  • the bidirectional angle measurement can be used, for example, in either the direct propagation mode or the multipath propagation mode.
  • the propagation mode can be determined with higher accuracy, and the propagation environment sensed by the MIMO radar device can be grasped in more detail.
  • FIG. 1 is an overall configuration diagram showing a MIMO radar device according to Embodiment 1;
  • FIG. FIG. 4 is a diagram showing multipath propagation waves reflected twice, once each by different objects A and B within the radio wave irradiation range of the MIMO radar device;
  • 4 is a flowchart showing a method of determining a propagation mode of a received signal vector of interest, which is an operation of the received signal processing device;
  • Embodiment 1 A MIMO radar device according to Embodiment 1 will be described based on FIG.
  • the MIMO radar apparatus has a plurality of transmitting antennas 1, that is, the first transmitting antenna 1 1 to the Nth transmitting antenna 1N , and a plurality of receiving antennas 2, that is, the first receiving antenna 2 1 to the Mth receiving antenna.
  • An antenna 2 M and a MIMO radar signal processing device 100 are provided.
  • N and M is a natural number of 2 or more.
  • the MIMO radar signal processing device 100 includes a transmission signal processing device 110 and a reception signal processing device 120 .
  • the transmission signal processing device 110 includes a plurality of transmission signal generators 111, that is, a first transmission signal generator 111-1 to an N-th transmission signal generator 111- N .
  • the received signal processing device 120 includes a plurality of matched filter banks 121, that is, a first matched filter bank 121-1 to an Mth matched filter bank 121- M , a provisional angle measurement unit 122, a bidirectional angle measurement unit 123, A propagation mode discriminator 124 is provided.
  • the first transmitting antenna 1 1 to the Nth transmitting antenna 1 1 N respectively receive transmission signals from the corresponding first transmission signal generator 111 1 to the Nth transmission signal generator 111 N and transmit the transmission signals. TW 1 to TW N that are different from each other are transmitted, that is, radiated.
  • the first transmitting antenna 1-1 to the N-th transmitting antenna 1- N are arranged on a straight line at regular intervals.
  • the first transmission waves TW1 to Nth transmission waves TWN transmitted from the first transmission antenna 11 to the Nth transmission antenna 1N are transmission waves by mutually orthogonal signals (orthogonal signals). Orthogonality means that they do not interfere with each other due to differences in time, phase, frequency, code, etc., for example.
  • the first transmitting antenna 1 1 to the Nth transmitting antenna 1N and the first transmitting wave TW 1 to the Nth transmitting antenna 1 to Nth transmitting antenna 1 to Nth transmitting antenna TW 1 to Nth transmitting antenna Wave TW N is described as transmitting antenna 1 and transmitting wave TW.
  • the first transmission signal generator 111 1 to the N-th transmission signal generator 111 N are provided corresponding to the first transmission antenna 1-1 to the N-th transmission antenna 1- N , respectively, and each transmit signal is different from each other. and outputs the generated transmission signal to the corresponding transmission antenna 1 .
  • the first transmission signal generation unit 111_1 generates a first transmission signal, outputs the first transmission signal to the corresponding first transmission antenna 111
  • the second transmission signal generation unit 111_2 A second transmission signal is generated, the second transmission signal is output to the corresponding second transmission antenna 12
  • the Nth transmission signal generator 111N generates the Nth transmission signal, and outputs the second transmission signal to the corresponding second transmission antenna 12.
  • the transmit signal is output to the corresponding Nth transmit antenna 1- N .
  • the first to Nth transmission signals are signals orthogonal to each other.
  • the first transmission signal generator 111 1 to the Nth transmission signal generator 111 1 N output transmission signals to the first matched filter bank 121 1 to the M th matched filter bank 121 M , respectively.
  • the first transmission signal generator 111-1 to the N-th transmission signal generator 111- N are known transmission signal generators, and detailed description thereof will be omitted. In the following description, in order to avoid complication, the first transmission signal generation section 111 1 to the Nth transmission signal generation section 111 N will be described as the transmission signal generation section 111 when there is no need to distinguish them. .
  • the first receiving antenna 2-1 to the M-th receiving antenna 2- M are arranged on a straight line at regular intervals.
  • the first receiving antenna 2 1 to the Mth receiving antenna 2 M receive different incoming waves RW 1 to RW from the transmitted waves TW sent out from the plurality of transmitting antennas 1 reaching an object and being reflected. M , and the incoming waves RW 1 to RW M are converted into received signals and output to the corresponding first matched filter banks 121 1 to M th matched filter banks 121 M .
  • the first receiving antenna 2 1 to the Mth receiving antenna 2 M will be described as the receiving antenna 2 when there is no need to distinguish them.
  • the first matched filter bank 121 1 to the M-th matched filter bank 121- M are provided corresponding to the first reception antenna 2-1 to the M-th reception antenna 2- M , respectively.
  • Each of the first matched filter bank 121 1 to the Mth matched filter bank 121 _M receives the reception signal from the corresponding reception antenna 2 and the transmission signals from the plurality of transmission signal generators 111 .
  • Each of the first matched filter bank 121 1 to the Mth matched filter bank 121 M is composed of matched filters, and the transmission signals from the plurality of transmission signal generation units 111 are used as matched filter replicas to generate N matched filter outputs. obtain.
  • the first matched filter bank 121 1 to the M-th matched filter bank 121 M are obtained by M ⁇ N virtual receiving antennas arranged at the same interval as the plurality of transmitting antennas 1 are arranged. It is equivalent to converting an incoming wave into a received signal and outputting the received signal.
  • the matched filter outputs from the first matched filter bank 121 1 to the M-th matched filter bank 121 M are vector elements of received signal vectors in virtual received signals from incoming waves obtained by M ⁇ N virtual receive antennas. Become. Of these received signal vectors, a received signal vector corresponding to a predetermined range Doppler cell, ie, a range Doppler cell given in the target detection process, becomes the target received signal vector x(i).
  • the received signal vector in the i-th snapshot in which the target detection process is performed becomes the received signal vector of interest x(i) for each virtual receiving antenna.
  • i is a snapshot number from 1 to NS .
  • NS is a natural number of 2 or more.
  • the first matched filter bank 121 1 to the Mth matched filter bank 121 M are respectively TDMA (Time Division Multiple Access), CDMA (Code Division Multiple Access), DDMA (Doppler Division Multiple Access), or FDMA ( frequency division multiple access). However, it is not limited to the specific method described above, and other methods may be used.
  • the first matched filter bank 121-1 to the M-th matched filter bank 121- M are known matched filter banks, and detailed description thereof will be omitted. To avoid complication in the following description, the first matched filter bank 121-1 to the M-th matched filter bank 121M will be described as the matched filter bank 121 when there is no need to distinguish them.
  • the received signal vector of interest x(i) exists in all of the M ⁇ N virtual receiving antennas, in order to avoid complication in the following description, one received signal vector of interest x(i) is focused on. However, the same idea holds true for the remaining received signal vectors of interest x(i).
  • received signal vector of interest x(i) explain.
  • different objects A and B exist within the radio wave irradiation range of the MIMO radar device, and attention is focused on the multipath propagation mode when the receiving antenna 2 captures the multipath propagation waves as incoming waves.
  • a received signal vector x(i) will be described.
  • the radio wave irradiation range of the MIMO radar device is the propagation environment sensed by the MIMO radar device.
  • the propagation angle from object A to object B is (u A , u B ) (where u A ⁇ u B ), and the propagation angle from object B to object A is (u B , u A ) (where u A ⁇ u B ), the propagation that is reflected once by each of object A and object B has two multipath propagation paths in both directions as indicated by the arrows in FIG. There is a first counterclockwise multipath propagation path from (1) ⁇ RW(1) and a second clockwise multipath propagation path from TW(2) ⁇ MW(2) ⁇ RW(2). .
  • the propagation angle corresponds to an angle in the plane in azimuth angle or elevation angle. Needless to say, the propagation angle may be an angle in space determined by the azimuth angle and the elevation angle. In the following description, the propagation angle is an azimuth angle or an elevation angle corresponding to an angle in a plane. .
  • the transmission wave TW from the MIMO radar device is reflected by the object A, and the reflected wave is reflected by the object B. It is a counterclockwise multipath propagation path leading to the MIMO radar device as an incoming wave RW.
  • the transmission wave TW from the MIMO radar device is reflected by the object B, and the reflected wave is reflected by the object A. It is a clockwise multipath propagation path leading to the MIMO radar device as an incoming wave RW.
  • the multipath propagation path is described as being reflected twice by the object, the following description holds true even if it is reflected by the object three times or more.
  • the propagation angle u A is the departure angle (DOD: Direction-of-Departure)
  • the propagation angle u B is the arrival angle (DOA: Direction-of-Arrival)
  • the second multipath propagation In the path the propagation angle u B is the outgoing angle
  • the propagation angle u A is the arrival angle.
  • the received signal vector of interest x(i) at this time is given by the following equation (1).
  • i is the snapshot number from 1 to N S
  • s(i) is the complex amplitude of the reflected signal
  • n(i) is the receiver noise vector
  • a MIMO (u A , u B ) is the The virtual array steering vector corresponding to the launch angle u A and the arrival angle u B in one multipath propagation path
  • a MIMO (u B, u A ) is the launch angle u B and the arrival angle u B in the second multipath propagation path.
  • the virtual array steering vector corresponding to A , b(u A , u B ) is the multipath steering vector corresponding to propagation angle (u A , u B ).
  • the virtual array steering vector a MIMO (u A , u B ) is given by the Kronecker product of the transmission array steering vector a T (u A ) and the reception array steering vector a R (u B ), and the virtual array steering vector a MIMO ( u B, u A ) is given by the Kronecker product of the transmission array steering vector a T (u B ) and the reception array steering vector a R (u A ), and is expressed by the following equation (2).
  • the multipath steering vector b(u A , u B ) in the above equation (1) is expressed by the following equation (3) in consideration of the above equation (2).
  • the multipath steering vector b(u B , u A ) corresponding to the propagation angle (u B , u A ) corresponds to the propagation angle (u A , u B ), as is clear from the above equation (3). is equal to the multipath steering vector b(u A , u B ), and the following equation (4) holds.
  • the correlation matrix R XX in the received signal vector of interest x(i) is expressed by the following equation (5).
  • Equation (5) P S is the reflected signal power, ⁇ 2 is the receiver noise power, R AB is the autocorrelation matrix of the multipath propagation wave in the first multipath propagation path, and R BA is the second multipath propagation Autocorrelation matrix of multipath propagating waves in the path.
  • the autocorrelation matrix R AB and the autocorrelation matrix R BA are expressed by the following equation (6).
  • One item on the right side of the above equation (5) shown in the following (7) is a cross-correlation matrix generated because the multipath propagation waves in the first multipath propagation path and the second multipath propagation path are coherent. .
  • the cross-correlation matrix shown in (7) above is the correlation matrix affected by the second multipath propagation path in the first multipath propagation path and the second is the sum of the correlation matrices affected from the first multipath propagation path in the multipath propagation paths of .
  • the received signal vector of interest x(i) will be described.
  • the received signal vector of interest x(i) in the direct propagation mode is expressed by the following equation (9) because the outgoing angle u A of the transmitted wave and the arrival angle u A of the incoming wave are the same.
  • R AA is the autocorrelation matrix of the direct propagation wave on the direct propagation path to object A, and is expressed by the following equation (11).
  • the autocorrelation matrix R BB of can also be expressed in the same manner as the above equation (11).
  • provisional angle measurement section 122 assumes that the matched filter outputs for the M ⁇ N virtual reception antennas input from the plurality of matched filter banks 121 are received signals in the direct propagation mode, that is, direct propagation waves, and in the target detection process
  • a provisional angle measurement value is calculated for the received signal vector of interest x(i) corresponding to the given range Doppler cell.
  • the provisional angle measurement unit 122 provides a provisional angle measurement value for the received signal vector of interest x(i) for each of the matched filter outputs for the M ⁇ N virtual reception antennas input from the plurality of matched filter banks 121 as follows. Calculated as
  • the provisional angle measurement unit 122 calculates the provisional angle measurement value for each received signal vector of interest x(i) by obtaining the azimuth spectrum Ptentative(u) of the beamformer method shown in the following equation (12), and calculating the azimuth spectrum Ptentative( The angle u tV corresponding to the maximum value of u) is obtained, and the angle u tV of the maximum value is taken as a provisional angle measurement value.
  • the azimuth spectrum P tentative (u) depends on the virtual array steering vector a MIMO (u, u) corresponding to the directly propagating wave and depends on the propagation angle (u, u) .
  • u is the scan angle indicating the outgoing angle and the incoming angle.
  • the matched filter output from the matched filter bank 121 input to the provisional angle measurement unit 122 is the received signal with respect to the directly propagating wave to the object A
  • the correlation of the target received signal vector x(i) due to the directly propagating wave Matrix R XX can be expressed by the above equation (10). Therefore, in the provisional angle measurement unit 122, the azimuth spectrum Ptentative(u) is calculated using the propagation angle u as a variable, and the propagation angle u at which the azimuth spectrum Ptentative(u) exhibits the maximum value is the transmission angle u A and the angle of arrival u A can be considered. As a result, the provisional angle measurement unit 122 can obtain a provisional angle measurement value u tV that can be regarded as the outgoing angle u A and the arrival angle u A .
  • the matched filter output from the matched filter bank 121 input to the provisional angle measurement unit 122 is the received signal for the directly propagating wave to the object B
  • the target received signal vector x(i) due to the direct propagating wave can also be expressed in the same way as the above equation ( 10 ). Therefore, in the provisional angle measurement unit 122, the azimuth spectrum Ptentative(u) is calculated using the propagation angle u as a variable, and the propagation angle u at which the azimuth spectrum Ptentative(u) exhibits the maximum value is the transmission angle u B and angle of arrival uB .
  • the provisional angle measurement unit 122 can obtain a provisional angle measurement value u tV that can be regarded as the outgoing angle uB and the arrival angle uB .
  • the matched filter output from the matched filter bank 121 input to the provisional angle measurement unit 122 is the received signal for the multipath propagating wave
  • the matrix R XX can be expressed by the above equation (5).
  • the azimuth spectrum Ptentative(u) is calculated using the propagation angle u as a variable, and the propagation angle u at which the azimuth spectrum Ptentative(u) exhibits the maximum value is obtained as the provisional angle measurement value u tV .
  • the provisional angle measurement value u tV obtained here cannot be estimated as the outgoing angle and arrival angle for the incoming wave RW due to multipath propagation waves.
  • the propagation angle The maximum value of the azimuth spectrum Ptentative(u) obtained by (u A , u B ) or (u B , u A ) (where u A ⁇ u B ) is large. Therefore, when the matched filter output from the matched filter bank 121 is the incoming wave RW by the multipath propagation wave, from the maximum value of the azimuth spectrum Ptentative(u), the outgoing angle u A or u B and the arrival angle u B or u A are I can't get it.
  • the provisional angle measurement unit 122 detects the azimuth spectrum Ptentative(u) indicating a plurality of maximum points.
  • u) Obtain the propagation angle u for each as a provisional angle measurement u tV . That is, when there is an azimuth spectrum Ptentative(u) indicating a plurality of maximum points, the provisional angle measurement unit 122 obtains a plurality of provisional angle measurement values u tV corresponding to the plurality of maximum points.
  • the provisional angle measurement unit 122 obtains the provisional angle measurement value utV by assuming that the incoming wave RW is a directly propagating wave by the beamformer method.
  • a provisional angular measurement value u tV may be obtained by assuming that the incoming wave RW is a directly propagating wave by the Estimation of Signal Parameters via Rotational Invariance Techniques method.
  • Bidirectional angle measurement section 123 uses matched filter outputs from a plurality of matched filter banks 121 and provisional angle measurement value u tV calculated by provisional angle measurement section 122 to determine the transmission angle and arrival angle for the received signal vector of interest x(i). A two-way goniometer consisting of angles is calculated.
  • the provisional angle measurement value u tV calculated by the provisional angle measurement unit 122 is set as the arrival angle u B with respect to the received signal vector of interest x(i), and the propagation angle u A for calculating the output angle u A
  • the azimuth spectrum P D (u) is obtained using the angle u as a variable, and the propagation angle u bi at which the azimuth spectrum P D (u) has the maximum value is defined as the transmission angle u A .
  • the azimuth spectrum P D (u) depends on the virtual array steering vector a MIMO (u, u tV ) and on the propagation angle (u, u tV ). Note that u is a scan angle indicating a delivery angle in the expression (13).
  • the two-way goniometric unit 123 determines that the transmission angle u A is the propagation angle u bi at which the azimuth spectrum P D (u) is the maximum value, and the arrival angle u B is A two-way angle measurement value, which is the provisional angle measurement value utV calculated by the provisional angle measurement unit 122, is obtained.
  • the transmission angle is uA and the arrival angle is uB .
  • the two-way angle measurement unit 123 regardless of the transmission angle and the arrival angle of the wave arriving at the virtual reception antenna, for the received signal vector of interest x(i) at each virtual reception antenna, Two-way angle measurements can be obtained with an outgoing angle u bi and an incoming angle u tV .
  • the bidirectional angle measurement unit 123 obtains a plurality of provisional measured angle values
  • the azimuth spectrum P D (u) is obtained with each of u tV as the arrival angle u B and the propagation angle u for calculating the transmission angle u A as a variable
  • the azimuth spectrum P D ( u ) is the maximum propagation angle u bi be the delivery angle u A .
  • the bidirectional angle measurement unit 123 obtains the plurality of provisional measured angle values u tV and the propagation angles u bi for the plurality of provisional measured angle values u tV and their respective differences
  • the propagation mode determination unit 124 determines whether the propagation mode in the received signal vector of interest x(i) for the two-way angle measurement value obtained by the two-way angle measurement unit 123 is either the direct propagation mode or the multipath propagation mode. determines whether or not, and outputs the determined result.
  • Propagation mode determination unit 124 obtains the difference
  • the provisional measured angle values obtained by the provisional angle measurement unit 122 exist as a plurality of provisional measured angle values u tV corresponding to a plurality of local maximum points. If the difference
  • the propagation mode determination unit 124 determines that the propagation mode in the received signal vector x(i) of interest is the direct propagation mode. Output the discrimination result.
  • is equal to or less than the threshold th means that the transmission angle u bi and the arrival angle u tV are close to or the same, and the propagation mode in the received signal vector x(i) of interest is the MIMO radar device means that the path (outward path) of the transmitted wave TW from the .
  • the provisional angle measurement unit 122, the bidirectional angle measurement unit 123, and the propagation mode determination unit 124 are implemented by a microcomputer including CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and other memories. Configured.
  • CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the incoming waves RW captured by the plurality of reception antennas 2 are converted into reception signals by the plurality of reception antennas 2, and the converted reception signals are input to the plurality of matched filter banks 121 corresponding to each of the plurality of reception antennas 2.
  • Each matched filter bank 121 outputs the same number of matched filter outputs as the number of input transmission signals based on the reception signal from the corresponding reception antenna 2 and the transmission signals from the plurality of transmission signal generators 111.
  • the provisional angle measurement section 122 to which the matched filter outputs from the plurality of matched filter banks 121 are input, performs a provisional measurement for the received signal vector of interest x(i) for each matched filter output, as shown in step ST1. Calculate the angular value u tV .
  • the tentative angle measurement value u tV is obtained as the propagation angle u at which the azimuth spectrum Ptentative(u) shown in the above equation (12) has the maximum value.
  • step ST2 the matched filter outputs from the plurality of matched filter banks 121 are input, and the two-way angle measurement unit 123 receives the provisional angle measurement value u tV calculated by the provisional angle measurement unit 122. calculates the two-way goniometric value of the received signal vector of interest x(i) for each matched filter output.
  • the two-way angle measurement unit 123 sets the arrival angle constituting the two-way angle measurement value to the provisional angle measurement value utV calculated by the provisional angle measurement unit 122, and the transmission angle constituting the two-way angle measurement value to the above equation (13 ) is assumed to be the propagation angle u bi at which the azimuth spectrum P D (u) has the maximum value, and bidirectional angle measurement values (u bi , u tV ) are obtained.
  • the propagation mode discriminating section 124 constructs a bidirectional angle measurement value in the received signal vector of interest x(i) calculated by the bidirectional angle measuring section 123 for each matched filter output.
  • between the outgoing angle u bi and the arrival angle u tV is calculated, and the calculated difference
  • the propagation mode discriminator 124 discriminates the propagation mode of the received signal vector of interest x(i) based on the comparison result, as shown in step ST4. If the difference
  • step ST1 if the azimuth spectrum Ptentative(u) obtained by the provisional goniometric section 122 includes the azimuth spectrum Ptentative(u) indicating a plurality of maximum points, steps ST1 to ST2 are performed as follows.
  • the provisional angle measurement unit 122 obtains the propagation angle u for each of the azimuth spectra Ptentative(u) indicating a plurality of maximum points as the provisional angle measurement value utV .
  • step ST2 the two-way goniometer 123 uses each of the plurality of provisional goniometric values u tV obtained by the provisional goniometer 122 as the arrival angle uB , and the propagation angle at which the azimuth spectrum P D (u) becomes the maximum value. Take u bi as the delivery angle u A . Then, the bidirectional angle measurement unit 123 obtains the plurality of provisional measured angle values u tV and the propagation angles u bi for the plurality of provisional measured angle values u tV and their differences
  • the two-way goniometer 123 takes the propagation angle u bi at which the calculated difference
  • step ST3 the propagation mode discriminating section 124 determines, for each matched filter output, the transmission angle u The difference
  • the MIMO radar signal processing apparatus converts the matched filter outputs from the plurality of matched filter banks 121 into the direct propagation mode of the incoming wave RW that is directly propagated after the transmitted wave TW is reflected by an object.
  • a provisional angle measurement unit 122 for calculating a provisional angle measurement value u tV for the received signal vector of interest x(i) corresponding to the range Doppler cell given in the target detection process, and a plurality of matched filter banks 121 , and the provisional angle measurement value u tV calculated by the provisional angle measurement unit 122, the two-way angle measurement composed of the outgoing angle u bi and the arrival angle u tV for the received signal vector of interest x(i). Since the two-way angle measurement unit 123 is provided to obtain the value, for example, the two-way angle measurement value that can be used to determine the propagation mode, whether the propagation mode is the direct propagation mode or the multipath propagation mode, can be obtained. Obtainable.
  • the reception of interest Whether the propagation mode of the signal vector x(i) is the direct propagation mode or the multipath propagation mode can be determined with high accuracy, and the propagation environment sensed by the MIMO radar device can be grasped in more detail. .
  • the propagation mode of the received signal vector of interest x(i) for the two-way angle measurement values (u bi , u tV ) obtained by the two-way angle measurement unit 123 is Since a propagation mode discriminating unit 124 for discriminating whether the propagation mode is the direct propagation mode or the multipath propagation mode is further provided, the propagation mode in the received signal vector of interest x(i) is the direct propagation mode or the multipath propagation mode. It is possible to determine with high accuracy which propagation mode it is, and to grasp the propagation environment sensed by the MIMO radar device in more detail.
  • Embodiment 2 A MIMO radar device according to Embodiment 2 will be described.
  • the MIMO radar apparatus according to the second embodiment differs from the MIMO radar apparatus according to the first embodiment in bidirectional angle measurement section 123, and the other configurations are the same as or similar to those of the MIMO radar apparatus according to the first embodiment. Configuration.
  • the provisional angle measurement unit 122 the bidirectional angle measurement unit 123, and the propagation mode determination unit 124 will be described below.
  • the two-way angle measurement unit 123 sets the provisional angle measurement value utV calculated by the provisional angle measurement unit 122 as the transmission angle u A with respect to the received signal vector of interest x(i), and the arrival angle u B
  • the azimuth spectrum P A (u) is determined using the propagation angle u for calculating , and the propagation angle ubi at which the azimuth spectrum P A (u) has the maximum value is defined as the arrival angle u B .
  • the azimuth spectrum P A (u) depends on the virtual array steering vector a MIMO (u tV ,u) and on the propagation angle (u tV ,u). Note that u in equation (14) is a scan angle indicating an arrival angle.
  • the two-way goniometer 123 obtains the provisional angle measurement value u tV calculated by the provisional goniometer 122 as the outgoing angle u A and the azimuth Obtain the bidirectional goniometer, which is the propagation angle u bi with the spectrum P A (u) as the maximum.
  • the transmission angle is uA and the arrival angle is uB .
  • the two-way angle measurement unit 123 regardless of the transmission angle and the arrival angle of the wave arriving at the virtual reception antenna, for the received signal vector of interest x(i) at each virtual reception antenna, Two-way goniometers with outgoing angle u tV and arrival angle u bi can be obtained.
  • Propagation mode determination unit 124 obtains the difference
  • Propagation mode determination unit 124 determines that the propagation mode in the received signal vector x(i) of interest is the direct propagation mode when the difference
  • the provisional angle measurement unit 122 and the two-way angle measurement unit 123 perform propagation mode discrimination.
  • Unit 124 operates as follows. That is, the provisional angle measurement unit 122 obtains the propagation angle u for each of the azimuth spectra Ptentative(u) indicating a plurality of maximum points as the provisional angle measurement value u tV .
  • Bidirectional angle measurement unit 123 sets each of the plurality of provisional angle measurement values u tV obtained by provisional angle measurement unit 122 as transmission angle u A , and arrives at propagation angle u bi at which azimuth spectrum P D (u) has the maximum value. Let the angle u B be. Then, the bidirectional angle measurement unit 123 obtains the plurality of provisional measured angle values u tV and the propagation angles u bi for the plurality of provisional measured angle values u tV and their differences
  • the two-way goniometric unit 123 sets the tentative measured angle value u tV as the transmission angle u A , and sets the propagation angle u bi at which the obtained difference
  • Propagation mode discriminator 124 determines the difference
  • the MIMO radar signal processing device also has the same effects as the MIMO radar signal processing device according to the first embodiment.
  • Embodiment 3 A MIMO radar device according to Embodiment 3 will be described.
  • the MIMO radar apparatus according to the third embodiment differs from the MIMO radar apparatus according to the first embodiment in bidirectional angle measurement section 123, and the other configurations are the same as or similar to those of the MIMO radar apparatus according to the first embodiment. Configuration.
  • the provisional angle measurement unit 122 the bidirectional angle measurement unit 123, and the propagation mode determination unit 124 will be described below.
  • bidirectional angle measurement section 123 converts the provisional angle measurement value utV calculated by provisional angle measurement section 122 into the angle of arrival with respect to the received signal vector of interest x(i) as in the first embodiment.
  • the azimuth spectrum P D (u) is obtained using the propagation angle u for calculating the delivery angle u A as a variable .
  • the provisional angle measurement unit 122 Letting the value u tV be the transmission angle u A with respect to the received signal vector of interest x(i), the azimuth spectrum P A (u) is obtained using the propagation angle u for calculating the arrival angle u B as a variable, and the azimuth spectrum P A (u ) is obtained as a second provisional two-way angle measurement value (u tV , u bi ) with the propagation angle u bi at which ) is the maximum value as the arrival angle u B .
  • the bidirectional angle measurement unit 123 calculates the azimuth spectrum P D (u) at the first provisional two-way angle measurement values (u bi , u tV ) and the second provisional two-way angle measurement values (u tV , u bi ). Comparing the azimuth spectra P A ( u) , provisional Let the two-way angle measurement be the two-way angle measurement.
  • the bidirectional goniometer 123 converts the first provisional bidirectional goniometric values (u bi , u tV ) to the bidirectional goniometric values , and if the azimuth spectrum P A (u) is greater than the azimuth spectrum P D (u), then the second interim bidirectional goniometer (u tV ,u bi ) is selected as the bidirectional goniometer.
  • the transmission angle is uA and the arrival angle is uB .
  • the transmission angle is uB and the arrival angle is uA .
  • the propagation mode determination unit 124 causes the two-way angle measurement unit 123 to The difference
  • the propagation mode determination unit 124 determines that the propagation mode in the received signal vector x(i) of interest is the direct propagation mode. Output the discrimination result.
  • the second provisional two-way measured angle value (u tV , u bi ) is selected as the two-way measured angle value
  • between the transmission angle u tV and the arrival angle u bi that constitute the angle measurement value is obtained, and the obtained difference
  • Propagation mode determination unit 124 determines that the propagation mode in the received signal vector x(i) of interest is the direct propagation mode when the difference
  • the provisional angle measurement unit 122 and the two-way angle measurement unit 123 perform propagation mode discrimination.
  • Unit 124 operates as follows. That is, the provisional angle measurement unit 122 obtains the propagation angle u for each of the azimuth spectra Ptentative(u) indicating a plurality of maximum points as the provisional angle measurement value u tV .
  • Bidirectional angle measurement unit 123 outputs propagation angle u bi at which azimuth spectrum P D (u) has the maximum value, using each of the plurality of provisional angle measurement values u tV obtained by provisional angle measurement unit 122 as arrival angle u B. Let the angle u A. Then, the bidirectional angle measurement unit 123 obtains the plurality of provisional measured angle values u tV and the propagation angles u bi for the plurality of provisional measured angle values u tV and their differences
  • the two-way goniometric unit 123 sets the provisional angle measurement value u tV to the arrival angle u B , and sets the propagation angle u bi at which the calculated difference
  • the bidirectional angle measurement unit 123 uses each of the plurality of provisional angle measurement values u tV obtained by the provisional angle measurement unit 122 as the transmission angle u A to obtain the propagation angle u bi at which the azimuth spectrum P A (u) has the maximum value. be the angle of arrival u B . Then, the bidirectional angle measurement unit 123 obtains the plurality of provisional measured angle values u tV and the propagation angles u bi for the plurality of provisional measured angle values u tV and their differences
  • the two-way goniometric unit 123 sets the tentative measured angle value u tV as the transmission angle u A , and sets the propagation angle u bi at which the obtained difference
  • the bidirectional angle measurement unit 123 calculates the azimuth spectrum P D (u) at the first provisional two-way angle measurement values (u bi , u tV ) and the second provisional two-way angle measurement values (u tV , u bi ).
  • the azimuth spectra P A (u) are compared, and the provisional two-way angle measurement value with the larger azimuth spectrum is used as the two-way angle measurement value for the received signal vector x(i) of interest.
  • the propagation mode determination unit 124 compares the difference between the transmission angle and the arrival angle that constitute the bidirectional angle measurement value in the received signal vector of interest x(i) obtained by the bidirectional angle measurement unit 123 and the threshold th.
  • the MIMO radar signal processing device also has the same effects as the MIMO radar signal processing device according to the first embodiment.
  • the bidirectional angle measuring unit 123 obtains the first provisional two-way measured angle values (u bi , u tV ) and the second provisional two-way measured angle values (u tV , u bi ). Since the provisional two-way angle measurement value is used as the two-way angle measurement value, it is possible to more accurately determine whether the propagation mode of the received signal vector of interest x(i) is the direct propagation mode or the multipath propagation mode. .
  • the MIMO radar signal processing device can be applied to a flying object surveillance radar device, an aircraft surveillance radar device, a marine radar device, a ship surveillance radar device, an in-vehicle radar device, an infrastructure radar device, and the like.

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  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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PCT/JP2021/030092 2021-08-18 2021-08-18 Ｍｉｍｏレーダ信号処理装置及びその受信信号処理装置、並びに着目受信信号ベクトルの伝搬モード判別方法 WO2023021586A1 (ja)

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EP21954160.4A EP4369024A1 (de) 2021-08-18 2021-08-18 Mimo-radarsignalverarbeitungsvorrichtung und empfangssignalverarbeitungsvorrichtung sowie verfahren zur unterscheidung des ausbreitungsmodus eines interessierenden empfangssignalvektors
AU2021461030A AU2021461030B2 (en) 2021-08-18 2021-08-18 Mimo radar signal processing device and reception signal processing device, and method for distinguishing propagation mode of reception signal vector of interest
CN202180101456.5A CN117795370A (zh) 2021-08-18 2021-08-18 Mimo雷达信号处理装置及其接收信号处理装置、以及关注接收信号向量的传播模式判别方法
CA3223642A CA3223642A1 (en) 2021-08-18 2021-08-18 Mimo radar signal processing device and reception signal processing device, and method for distinguishing propagation mode of reception signal vector of interest
PCT/JP2021/030092 WO2023021586A1 (ja) 2021-08-18 2021-08-18 Ｍｉｍｏレーダ信号処理装置及びその受信信号処理装置、並びに着目受信信号ベクトルの伝搬モード判別方法
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WO2019155625A1 (ja) * 2018-02-09 2019-08-15 三菱電機株式会社 レーダ装置
JP2019144077A (ja) * 2018-02-20 2019-08-29 株式会社デンソー 方位推定方法および装置
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JP2017116425A (ja) * 2015-12-24 2017-06-29 学校法人東京電機大学 Ｍｉｍｏレーダシステム、および信号処理装置
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